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rtabmapviz: added "-d" option to load gui settings from the specifed file (like rviz)

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@791 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2013-01-29 20:33:08 +00:00
parent 5a060a74f9
commit 61ae26327f
3 changed files with 34 additions and 3 deletions
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rtabmap/src/GuiWrapper.cpp
+16 -1
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@@ -30,7 +30,22 @@ GuiWrapper::GuiWrapper(int & argc, char** argv)
ros::NodeHandle nh; ros::NodeHandle nh;
infoExTopic_ = nh.subscribe("rtabmap/infoEx", 1, &GuiWrapper::infoExReceivedCallback, this); infoExTopic_ = nh.subscribe("rtabmap/infoEx", 1, &GuiWrapper::infoExReceivedCallback, this);
app_ = new QApplication(argc, argv); app_ = new QApplication(argc, argv);
mainWindow_ = new MainWindow(new PreferencesDialogROS());
QString configFile;
for(int i=1; i<argc; ++i)
{
if(strcmp(argv[i], "-d") == 0)
{
++i;
if(i < argc)
{
configFile = argv[i];
}
break;
}
}
mainWindow_ = new MainWindow(new PreferencesDialogROS(configFile));
mainWindow_->show(); mainWindow_->show();
mainWindow_->changeState(MainWindow::kMonitoring); mainWindow_->changeState(MainWindow::kMonitoring);
app_->connect( app_, SIGNAL( lastWindowClosed() ), app_, SLOT( quit() ) ); app_->connect( app_, SIGNAL( lastWindowClosed() ), app_, SLOT( quit() ) );
rtabmap/src/PreferencesDialogROS.cpp
+12 -1
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@@ -18,8 +18,10 @@
using namespace rtabmap; using namespace rtabmap;
PreferencesDialogROS::PreferencesDialogROS() PreferencesDialogROS::PreferencesDialogROS(const QString & configFile) :
configFile_(configFile)
{ {
} }
PreferencesDialogROS::~PreferencesDialogROS() PreferencesDialogROS::~PreferencesDialogROS()
@@ -27,6 +29,15 @@ PreferencesDialogROS::~PreferencesDialogROS()
} }
QString PreferencesDialogROS::getIniFilePath()
{
if(configFile_.isEmpty())
{
return PreferencesDialog::getIniFilePath();
}
return configFile_;
}
void PreferencesDialogROS::readCameraSettings(const QString & filePath) void PreferencesDialogROS::readCameraSettings(const QString & filePath)
{ {
this->setInputRate(0); this->setInputRate(0);
rtabmap/src/PreferencesDialogROS.h
+6 -1
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@@ -16,15 +16,20 @@ using namespace rtabmap;
class PreferencesDialogROS : public PreferencesDialog class PreferencesDialogROS : public PreferencesDialog
{ {
public: public:
PreferencesDialogROS(); PreferencesDialogROS(const QString & configFile);
virtual ~PreferencesDialogROS(); virtual ~PreferencesDialogROS();
virtual QString getIniFilePath();
protected: protected:
virtual QString getParamMessage(); virtual QString getParamMessage();
virtual void readCameraSettings(const QString & filePath); virtual void readCameraSettings(const QString & filePath);
virtual bool readCoreSettings(const QString & filePath); virtual bool readCoreSettings(const QString & filePath);
virtual void writeSettings(const QString & filePath); virtual void writeSettings(const QString & filePath);
private:
QString configFile_;
}; };
#endif /* PREFERENCESDIALOGROS_H_ */ #endif /* PREFERENCESDIALOGROS_H_ */